public bool SetupCamera(float nearClipPlane, float farClipPlane, Matrix4x4 projectionMatrix, ref bool opticalOut)
{
Camera c = this.gameObject.GetComponent <Camera>();
// A perspective projection matrix from the tracker
c.orthographic = false;
// Shouldn't really need to set these, because they are part of the custom
// projection matrix, but it seems that in the editor, the preview camera view
// isn't using the custom projection matrix.
c.nearClipPlane = nearClipPlane;
c.farClipPlane = farClipPlane;
if (Optical)
{
float fovy;
float aspect;
float[] m = new float[16];
float[] p = new float[16];
opticalSetupOK = PluginFunctions.arwLoadOpticalParams(null, OpticalParamsFileContents, OpticalParamsFileContents.Length, out fovy, out aspect, m, p);
if (!opticalSetupOK)
{
ARController.Log(LogTag + "Error loading optical parameters.");
return(false);
}
m[12] *= 0.001f;
m[13] *= 0.001f;
m[14] *= 0.001f;
ARController.Log(LogTag + "Optical parameters: fovy=" + fovy + ", aspect=" + aspect + ", camera position (m)={" + m[12].ToString("F3") + ", " + m[13].ToString("F3") + ", " + m[14].ToString("F3") + "}");
c.projectionMatrix = ARUtilityFunctions.MatrixFromFloatArray(p);
opticalViewMatrix = ARUtilityFunctions.MatrixFromFloatArray(m);
if (OpticalEyeLateralOffsetRight != 0.0f)
{
opticalViewMatrix = Matrix4x4.TRS(new Vector3(-OpticalEyeLateralOffsetRight, 0.0f, 0.0f), Quaternion.identity, Vector3.one) * opticalViewMatrix;
}
// Convert to left-hand matrix.
opticalViewMatrix = ARUtilityFunctions.LHMatrixFromRHMatrix(opticalViewMatrix);
opticalOut = true;
}
else
{
c.projectionMatrix = projectionMatrix;
}
// Don't clear anything or else we interfere with other foreground cameras
c.clearFlags = CameraClearFlags.Nothing;
// Renders after the clear and background cameras
c.depth = 2;
c.transform.position = new Vector3(0.0f, 0.0f, 0.0f);
c.transform.rotation = new Quaternion(0.0f, 0.0f, 0.0f, 1.0f);
c.transform.localScale = new Vector3(1.0f, 1.0f, 1.0f);
return(true);
}
// We use Update() here, but be aware that unless ARController has been configured to
// execute first (Unity Editor->Edit->Project Settings->Script Execution Order) then
// state produced by this update may lag by one frame.
void Update()
{
float[] matrixRawArray = new float[16];
//ARController.Log(LogTag + "ARMarker.Update()");
if (UID == NO_ID || !PluginFunctions.inited)
{
visible = false;
return;
}
// Query visibility if we are running in the Player.
if (Application.isPlaying)
{
visible = PluginFunctions.arwQueryMarkerTransformation(UID, matrixRawArray);
//ARController.Log(LogTag + "ARMarker.Update() UID=" + UID + ", visible=" + visible);
if (visible)
{
matrixRawArray[12] *= 0.001f; // Scale the position from ARToolKit units (mm) into Unity units (m).
matrixRawArray[13] *= 0.001f;
matrixRawArray[14] *= 0.001f;
Matrix4x4 matrixRaw = ARUtilityFunctions.MatrixFromFloatArray(matrixRawArray);
//ARController.Log("arwQueryMarkerTransformation(" + UID + ") got matrix: [" + Environment.NewLine + matrixRaw.ToString("F3").Trim() + "]");
// ARToolKit uses right-hand coordinate system where the marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of +z.
// Need to convert to Unity's left-hand coordinate system where marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of -z.
transformationMatrix = ARUtilityFunctions.LHMatrixFromRHMatrix(matrixRaw);
}
}
}
public ARPattern(IPluginFunctions pluginFunctions, int trackableID, int patternID)
{
float[] matrixRawArray = new float[16];
float widthRaw = 0.0f;
float heightRaw = 0.0f;
// Get the pattern local transformation and size.
if (!pluginFunctions.arwGetTrackablePatternConfig(trackableID, patternID, matrixRawArray, out widthRaw, out heightRaw, out imageSizeX, out imageSizeY))
{
throw new ArgumentException("Invalid argument", "markerID,patternID");
}
width = widthRaw * 0.001f;
height = heightRaw * 0.001f;
matrixRawArray[12] *= 0.001f; // Scale the position from artoolkitX units (mm) into Unity units (m).
matrixRawArray[13] *= 0.001f;
matrixRawArray[14] *= 0.001f;
Matrix4x4 matrixRaw = ARUtilityFunctions.MatrixFromFloatArray(matrixRawArray);
//ARController.Log("arwGetMarkerPatternConfig(" + markerID + ", " + patternID + ", ...) got matrix: [" + Environment.NewLine + matrixRaw.ToString("F3").Trim() + "]");
// artoolkitX uses right-hand coordinate system where the marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of +z.
// Need to convert to Unity's left-hand coordinate system where marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of -z.
matrix = ARUtilityFunctions.LHMatrixFromRHMatrix(matrixRaw);
// Handle pattern image.
if (imageSizeX > 0 && imageSizeY > 0)
{
// Allocate a new texture for the pattern image
texture = new Texture2D(imageSizeX, imageSizeY, TextureFormat.RGBA32, false);
texture.filterMode = FilterMode.Point;
texture.wrapMode = TextureWrapMode.Clamp;
texture.anisoLevel = 0;
// Get the pattern image data and load it into the texture
Color[] colors = new Color[imageSizeX * imageSizeY];
if (pluginFunctions.arwGetTrackablePatternImage(trackableID, patternID, colors))
{
texture.SetPixels(colors);
texture.Apply();
}
}
}
public ARPattern(int markerID, int patternID)
{
float[] matrixRawArray = new float[16];
float widthRaw = 0.0f;
float heightRaw = 0.0f;
// Get the pattern local transformation and size.
if (!PluginFunctions.arwGetTrackableAppearanceConfig(markerID, patternID, matrixRawArray, out widthRaw, out heightRaw, out imageSizeX, out imageSizeY))
{
throw new System.ArgumentException("Invalid argument", "markerID,patternID");
}
width = widthRaw * ARTrackable.UNITY_TO_ARTOOLKIT;
height = heightRaw * ARTrackable.UNITY_TO_ARTOOLKIT;
// Scale the position from ARToolKit units (mm) into Unity units (m).
matrixRawArray[12] *= ARTrackable.UNITY_TO_ARTOOLKIT;
matrixRawArray[13] *= ARTrackable.UNITY_TO_ARTOOLKIT;
matrixRawArray[14] *= ARTrackable.UNITY_TO_ARTOOLKIT;
Matrix4x4 matrixRaw = ARUtilityFunctions.MatrixFromFloatArray(matrixRawArray);
// ARToolKit uses right-hand coordinate system where the marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of +z.
// Need to convert to Unity's left-hand coordinate system where marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of -z.
matrix = ARUtilityFunctions.LHMatrixFromRHMatrix(matrixRaw);
// Handle pattern image.
if (imageSizeX > 0 && imageSizeY > 0)
{
// Allocate a new texture for the pattern image
texture = new Texture2D(imageSizeX, imageSizeY, TextureFormat.RGBA32, false);
texture.filterMode = FilterMode.Point;
texture.wrapMode = TextureWrapMode.Clamp;
texture.anisoLevel = 0;
// Get the pattern image data and load it into the texture
Color32[] colors32 = new Color32[imageSizeX * imageSizeY];
if (PluginFunctions.arwGetTrackableAppearanceImage(markerID, patternID, colors32))
{
texture.SetPixels32(colors32);
texture.Apply();
}
}
}
// We use Update() here, but be aware that unless ARController has been configured to
// execute first (Unity Editor->Edit->Project Settings->Script Execution Order) then
// state produced by this update may lag by one frame.
void Update()
{
// Only query visibility if we are running in the Player.
if (!Application.isPlaying)
{
return;
}
lock (loadLock)
{
//ARController.Log(LogTag + "ARTrackable.Update()");
if (UID == NO_ID)
{
visible = false;
return;
}
if (pluginFunctions == null || !pluginFunctions.IsInited())
{
visible = false;
return;
}
float[] matrixRawArray = new float[16];
visible = pluginFunctions.arwQueryTrackableVisibilityAndTransformation(UID, matrixRawArray);
//ARController.Log(LogTag + "ARTrackable.Update() UID=" + UID + ", visible=" + visible);
if (visible)
{
matrixRawArray[12] *= 0.001f; // Scale the position from artoolkitX units (mm) into Unity units (m).
matrixRawArray[13] *= 0.001f;
matrixRawArray[14] *= 0.001f;
Matrix4x4 matrixRaw = ARUtilityFunctions.MatrixFromFloatArray(matrixRawArray);
//.Log("arwQueryTrackableTransformation(" + UID + ") got matrix: [" + Environment.NewLine + matrixRaw.ToString("F3").Trim() + "]");
// artoolkitX uses right-hand coordinate system where the marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of +z.
// Need to convert to Unity's left-hand coordinate system where marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of -z.
transformationMatrix = ARUtilityFunctions.LHMatrixFromRHMatrix(matrixRaw);
}
}
}
// We use Update() here, but be aware that unless ARController has been configured to
// execute first (Unity Editor->Edit->Project Settings->Script Execution Order) then
// state produced by this update may lag by one frame.
void Update()
{
float[] matrixRawArray = new float[16];
ARController.Log(LogTag + "ARMarker.Update()");
if (UID == NO_ID || !PluginFunctions.inited)
{
visible = false;
return;
}
// Query visibility if we are running in the Player.
if (Application.isPlaying)
{
visible = PluginFunctions.arwQueryMarkerTransformation(UID, matrixRawArray);
ARController.Log(LogTag + "ARMarker.Update() UID=" + UID + ", visible=" + visible);
if (visible)
{
matrixRawArray[12] *= 0.001f; // Scale the position from ARToolKit units (mm) into Unity units (m).
matrixRawArray[13] *= 0.001f;
matrixRawArray[14] *= 0.001f;
Matrix4x4 matrixRaw = ARUtilityFunctions.MatrixFromFloatArray(matrixRawArray);
//ARController.Log("arwQueryMarkerTransformation(" + UID + ") got matrix: [" + Environment.NewLine + matrixRaw.ToString("F3").Trim() + "]");
// ARToolKit uses right-hand coordinate system where the marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of +z.
// Need to convert to Unity's left-hand coordinate system where marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of -z.
transformationMatrix = ARUtilityFunctions.LHMatrixFromRHMatrix(matrixRaw);
// Output current position: Added by Kazu on Apr 2 2016
Vector3 position = ARUtilityFunctions.PositionFromMatrix(transformationMatrix);
print("Position of Barcode ID #" + BarcodeID + ": (" + position.x * 1000 + ", " + position.y * 1000 + ", " + position.z * 1000 + ")");
// print ("position.x [mm]: "+ position.x * 1000);
// print ("position.y [mm]: "+ position.y * 1000);
// print ("position.z [mm]: "+ position.z * 1000);
// If you need quaternion, you can use the followings.
// Quaternion orientation = ARUtilityFunctions.QuaternionFromMatrix(transformationMatrix);
}
}
}
// 1 - Query for visibility.
// 2 - Determine if visibility state is new.
// 3 - If visible, calculate marker pose.
// 4 - If visible, set marker pose.
// 5 - If visibility state is new, notify event receivers via "OnMarkerFound" or "OnMarkerLost".
// 6 - If visibility state is new, set appropriate active state for marker children.
// 7 - If visible, notify event receivers that the marker's pose has been updated via "OnMarkerTracked".
protected virtual void LateUpdate()
{
if (!Application.isPlaying)
{
return;
}
float[] matrixRawArray = new float[16];
lock (loadLock) {
if (UID == NO_ID || !PluginFunctions.inited)
{
visible = false;
return;
}
Vector3 storedScale = transform.localScale;
transform.localScale = Vector3.one;
// 1 - Query for visibility.
bool nowVisible = PluginFunctions.arwQueryMarkerTransformation(UID, matrixRawArray);
// 2 - Determine if visibility state is new.
bool notify = (nowVisible != visible);
visible = nowVisible;
// 3 - If visible, calculate marker pose.
if (visible)
{
// Scale the position from ARToolKit units (mm) into Unity units (m).
matrixRawArray[12] *= UNITY_TO_ARTOOLKIT;
matrixRawArray[13] *= UNITY_TO_ARTOOLKIT;
matrixRawArray[14] *= UNITY_TO_ARTOOLKIT;
Matrix4x4 matrixRaw = ARUtilityFunctions.MatrixFromFloatArray(matrixRawArray);
// ARToolKit uses right-hand coordinate system where the marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of +z.
// Need to convert to Unity's left-hand coordinate system where marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of -z.
transformationMatrix = ARUtilityFunctions.LHMatrixFromRHMatrix(matrixRaw);
// 4 - If visible, set marker pose.
Matrix4x4 pose = ARStaticCamera.Instance.transform.localToWorldMatrix * transformationMatrix;
transform.position = ARUtilityFunctions.PositionFromMatrix(pose);
transform.rotation = ARUtilityFunctions.RotationFromMatrix(pose);
transform.localScale = storedScale;
}
// 5 - If visibility state is new, notify event receivers via "OnMarkerFound" or "OnMarkerLost".
if (notify)
{
if (null != eventReceivers && eventReceivers.Count > 0)
{
if (visible)
{
eventReceivers.ForEach(x => x.OnMarkerFound(this));
}
else
{
eventReceivers.ForEach(x => x.OnMarkerLost(this));
}
}
// 6 - If visibility state is new, set appropriate active state for marker children.
for (int i = 0; i < transform.childCount; ++i)
{
transform.GetChild(i).gameObject.SetActive(visible);
}
}
if (visible)
{
// 7 - If visible, notify event receivers that the marker's pose has been updated via "OnMarkerTracked".
if (null != eventReceivers && eventReceivers.Count > 0)
{
eventReceivers.ForEach(x => x.OnMarkerTracked(this));
}
}
}
}
